Development of the CA Robot Finger with a Novel Coupled and Active Grasping Mode

Yang Sicheng Song Jiuya Li Guoxuan Zhang Wenzeng Sun Zhenguo Du Dong Chen Qiang · 2016

阅读量：120

耦合指

耦合主动抓

机器人手

欠驱动

期刊名称：

International Journal of Humanoid Robotics 2016 年 13 卷 3 期

发表日期：

2016.09.01

摘要：

This paper proposes a novel coupled and active (CA) grasping mode for robot finger. While coupled grasping mode enables the phalanges of the finger to rotate in an anthropomorphic way, the active grasping mode enables the finger to adapt to the object's shape automatically. Combination of these grasping modes can greatly reduce the controlling complexity and enlarge the application of coupled hands. The CA finger is developed based on the pulley-belt mechanism. It is composed of a finger base and two mobile phalanges. The control process of the finger is also introduced in this paper. Grasping capabilities is validated by experiments. Theoretical and experimental results show that the CA grasping mode is effective.